EP1612927A1 - Motorantriebssteuereinrichtung und elektrische servolenkeinrichtung damit - Google Patents

Motorantriebssteuereinrichtung und elektrische servolenkeinrichtung damit Download PDF

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Publication number
EP1612927A1
EP1612927A1 EP04725151A EP04725151A EP1612927A1 EP 1612927 A1 EP1612927 A1 EP 1612927A1 EP 04725151 A EP04725151 A EP 04725151A EP 04725151 A EP04725151 A EP 04725151A EP 1612927 A1 EP1612927 A1 EP 1612927A1
Authority
EP
European Patent Office
Prior art keywords
motor
electrical angle
rotor
section
drive control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04725151A
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English (en)
French (fr)
Inventor
Caominh Ta
Chunhao Jiang
Hideyuki Kobayashi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NSK Ltd
NSK Steering Systems Co Ltd
Original Assignee
NSK Ltd
NSK Steering Systems Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NSK Ltd, NSK Steering Systems Co Ltd filed Critical NSK Ltd
Publication of EP1612927A1 publication Critical patent/EP1612927A1/de
Withdrawn legal-status Critical Current

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings

Definitions

  • the present invention relates to an improvement of a drive control apparatus of a motor used for an electric power steering apparatus, and to the electric power steering apparatus using the motor drive control apparatus.
  • a conventional drive control method of a motor used for an electric power steering apparatus e. g.
  • a conventional drive control method of a brushless DC motor there is employed a control method in which a rotating magnetic field is generated from a motor drive control apparatus through an inverter based on a rotation position of a rotor, and the rotation of the rotor is controlled. That is, according to this control method, energization of a plurality of energizing coils disposed in a state at predetermined angles in succession by a control unit in accordance with a rotor position, thereby to control the rotation of the rotor.
  • FIG.1 is a circuit diagram showing the drive control method of a motor 56 used for the electric power steering apparatus.
  • a main path of a command signal extends from a current command determining section 51 which determines a motor control command value to a motor 56 through PI control sections 52, a 2-phase/3-phase coordinate converting section 53, a PWM control section 54 and an inverter 55.
  • Current sensors 57 are disposed between the inverter 55 and the motor 56. Signals detected by the current sensors 57 are respectively feedbacked to subtracters 58 disposed between the current command determining section 51 and the PI control sections 52 through a feedback path.
  • a 3-phase/2-phase coordinate converting section 59 is disposed in the feedback path.
  • a torque command value Tref calculated from a torque signal detected by the torque sensor, an electrical angle ⁇ and an electrical angular speed ⁇ indicative of a rotor position detected by the position detecting sensor 11 are received, and current command values Idref and Iqref are determined.
  • the current command values Idref and Iqref are detected by the current sensors 57, respectively and then, corrected by feedback currents converted into 2-phase at the 3-phase/2-phase coordinate converting section 59 in the feedback path. That is, errors between the feedback currents Id and Iq and the current command values Idref and Iqref are calculated at the subtracters 58.
  • signals indicative of duty of PWM control are calculated as command values Vd and Vq in forms of d-component and q-component, and the d-component and q-component are reversely converted into command values Va, Vb and Vc of phase components at the 2-phase/3-phase coordinate converting section 53.
  • the inverter 55 is PWM-controlled based on the command values Va, Vc and Vc, inverter current is supplied to the motor 56, and the inverter 55 controls the rotation of the motor 56.
  • a reference numeral 61 represents a vehicle speed sensor
  • a reference numeral 62 represents a sensitive region determining section
  • a reference numeral 63 represents a coefficient generating section
  • a reference numeral 64 represents a basic assist force calculating section
  • a reference numeral 65 represents a returning force calculating section
  • a reference numeral 66 represents an electrical angle converting section
  • a reference numeral 67 represents an angular speed converting section
  • a reference numeral 68 represents an incoherent control corrected-value calculating section.
  • the current command values Idref and Iqref are determined based on the torque command value Tref, the electrical angle (rotor position) ⁇ and the electrical angular speed ⁇ . Further, feedback currents Iu, Iv and Iw of the motor 56 are converted into 2-phase currents Id and Iq and then, errors between the 2-phase currents Id and Iq and the current command values Idref and Iqref are calculated, and the errors perform the current control by PI control, thereby to obtain the command values Vd and Vq for the inverter 55. Then, the command values Vd and Vq are reversely converted into the 3-phase command values Va, Vb and Vc, the inverter 55 is controlled and the rotation of the motor 56 is controlled.
  • a motor is controlled using a Hall sensor which is an inexpensive position detecting sensor.
  • a signal of the Hall sensor is used for correcting a starting point or an intermediate point of a phase which generates sine wave used for the motor PWM-control.
  • a rotation angle ⁇ of the rotor in an intermediate section before a next Hall sensor signal is obtained is not calculated, and this is insufficient as a detector that can be used for detecting the rotor position unlike the encoder or resolver.
  • a temperature change of the motor is one element that increases the torque ripple of the motor. That is, when the electrical angle ⁇ of the rotor is calculated, if the rotor position estimating circuit which uses a counter electromotive voltage (back-EMF) of the motor is utilized, resistance of the motor and a value of inductance used for calculating the back-EMF are change in accordance with the temperature change. Therefore, if the resistance or the like caused by the temperature change is not corrected, the electrical angle ⁇ of the rotor cannot be calculated precisely, and there is a problem that the torque ripple is increased.
  • a Japanese Patent document (the specification of Japanese Patent No.3104865 B2) discloses an example of resistance calculation of a motor in which the temperature change is taken into consideration. In this publication, special conditions such as one in which the rotation speed of the motor is zero are required.
  • the present invention has been accomplished in view of the above circumstances, and it is an object of the present invention to provide a motor drive control apparatus having a rotor position estimating section capable of precisely calculating a rotor position even if an inexpensive rotor position detecting sensor is used, or even in a low rotation speed region, or even if the temperature of the motor is changed.
  • the present invention relates to a motor drive control apparatus of a brushless DC motor and an electric power steering apparatus.
  • the object of the present invention is achieved by providing a motor drive control apparatus comprising a voltage detecting section for detecting phase voltages or line voltages of a brushless DC motor having three or more phases, a current detecting section for detecting a motor current of the motor, a back-EMF detecting section for each phase for calculating a back-EMF of each phase of the motor from the phase voltages or line voltages, the motor current, the winding resistance value and winding inductance value, an angular speed calculating section which detects a back-EMF which becomes a maximum value in the back-EMF of each phase, and which calculates an angular speed ⁇ of a rotor of the motor, and a rotor position estimating section for estimating an electrical angle ⁇ of the rotor from the angular speed ⁇ .
  • the motor drive control apparatus comprising: a rotor position detecting sensor for detecting an electrical angle ⁇ 0 of the rotor of the motor in a discrete manner, and a rotor position estimating section for correcting the calculated electrical angle ⁇ of the rotor by the detected electrical angle ⁇ 0 of the rotor; a rotor position estimating section for estimating a resistance change amount ⁇ R caused by temperature change of the winding resistance from an error ⁇ between the calculated electrical angle ⁇ and the detected electrical angle ⁇ 0 ; a rotor position estimating section for estimating a temperature change amount ⁇ T of the winding from the resistance change amount ⁇ R; a rotor position estimating section for correcting the calculated electrical angle ⁇ of the rotor using the temperature change amount ⁇ T or the resistance change amount ⁇ R; and a rotor position estimating section in which a low pass filter is disposed in an input or output of the current detecting section.
  • the present invention comprises four invention theories, and outlines thereof will be explained.
  • a voltage and a current of a motor are detected, a back-EMF of each phase is calculated from the voltage value, the current value, the winding resistance R and the winding inductance L of the motor, and an angular speed ⁇ and an electrical angle ⁇ of a rotor are calculated from the back-EMF value.
  • the error when there is a calculation error in the electrical angle ⁇ calculated in the first invention theory, the error is cumulated, the error of the calculated electrical angle ⁇ becomes excessively large, and this is not suitable for practical use.
  • several rotor phase detecting sensors such as Hall sensors capable of detecting the electrical angle of the rotor are mounted on the motor, it is possible to correct the electrical angle ⁇ calculated in the first invention theory by the electrical angles ⁇ 0 detected by the several Hall sensors. Since the error is reset whenever the electrical angle ⁇ is corrected, the error is not cumulated.
  • the calculated electrical angle ⁇ is 65° when the detected electrical angle ⁇ 0 is 60°, this means that the calculation errors are generated five times in a section corresponding to the 60°, but when the electrical angle ⁇ is calculated in the next section from 60° to 120°, 60° is substituted into the initial value of the electrical angle ⁇ instead of 65°, the electrical angle ⁇ is newly calculated and with this, it is possible to prevent the error from being cumulated.
  • a third invention theory improves the second invention theory.
  • the electrical angles ⁇ 0 detected by the Hall sensors cannot be obtained continuously, the electrical angles ⁇ 0 can be obtained every 60° for example in the discrete manner. Therefore, it is possible to correct the electrical angle ⁇ every 60° but an error generated therebetween, e.g., between 0° to 60° cannot be corrected.
  • an error of the electrical angle ⁇ in this section is generated also by the detection error of the current or voltage, or by change of the inductance value, but one that is most affected is error caused by change in resistance caused by the temperature change of a motor winding.
  • the change amount of the winding resistance value is calculated, the change amount of the resistance is corrected to the winding resistance R of the first invention theory in a feedback manner, the electrical angle ⁇ is calculated, and an error of the electrical angle calculated in the third invention theory can be reduced as compared with that of the electrical angle generated in the second invention theory.
  • Waveforms of the back-EMFs ea, eb and ec are shown in FIG. 3.
  • To rectify is to obtain an envelope curve of the back-EMFs ea, eb and ec, i.e., a maximum value.
  • the reason why the numerator of the equation (2) is multiplied by two is that a negative value is superimposed on the side of positive value by employing absolute values of the back-EMFs ea, eb and ec.
  • the electrical angle ⁇ can be obtained from a following equation (3).
  • ⁇ ⁇ i + ⁇ ⁇ dt
  • ⁇ i an initial value in an integration section.
  • FIG. 4 shows the electrical angle ⁇ calculated by the first invention theory. It is apparent that as time is elapsed after calculation error is generated, the error is cumulated. A real value of the error amount is 60° at a time T 60 , the calculated value ⁇ is 65°. This means that the errors were generated five times between times To and T 60 . At a time T 120 , the error is cumulated and becomes 10°, and the calculated electrical angle ⁇ is more separated from the real value. If three Hall sensors are mounted on the four-pole motor, since the electrical angles ⁇ 0 can be detected every 60°, the calculated electrical angle ⁇ can be corrected. FIG. 5 shows this correction. The electrical angle ⁇ becomes 65° at the time T 60 in the first invention theory, but this is corrected to 60° by the electrical angles ⁇ 0 .
  • the error is not cumulated.
  • the electrical angle ⁇ is 130° in the first invention theory, but if the second invention theory is used, the electrical angle ⁇ is 125° and the error is not cumulated.
  • the third invention theory will be explained using FIGs.5 and 6.
  • the electrical angle ⁇ can be corrected every 60° using the detected value of the Hall sensor according to the second invention theory, but during that time, the error of the electrical angle ⁇ is cumulated. It is an object of the third invention theory to improve the error of the electrical angle during that time. Its theory is based on an assumption that an error of the calculated electrical angle ⁇ is caused when the temperature of the winding rises and the winding resistance R is changed from the value used in the first invention theory.
  • An angular speed error ⁇ is obtained from an electrical angle error ⁇
  • a back-EMF error ⁇ e is obtained from the angular speed error ⁇
  • the winding resistance Rm of the first invention theory is replaced by "Rm + ⁇ Rm" and corrected using the winding resistance Rm, and the electrical angle ⁇ is calculated using the winding resistance Rm.
  • ⁇ n ⁇ Ts ⁇ ⁇
  • n a value obtained by dividing a Hall sensor signal waiting time ⁇ Ts with the sampling time Ts
  • n ⁇ Ts/Ts
  • the temperature coefficient ⁇ ( ⁇ /°C) of the motor is known from material, shape and the like and thus, the temperature change amount ⁇ T of the winding resistance can be obtained by the following equation (10).
  • ⁇ T ⁇ R / a
  • FIG.7 shows a control block diagram an electric power steering apparatus using of a motor drive control apparatus to which the present invention is applied.
  • a motor 1 is a brushless DC motor, and is a four-pole three-phase motor.
  • the motor 1 has a rotor (not shown), and Hall sensors 48-1, 48-2, 48-3 as rotor position detecting sensors for detecting the electrical angle of the rotor are disposed through 120° from one another.
  • the electrical angle ⁇ of the rotor of the motor 1 can be detected every 60°.
  • the motor 1 is vector-controlled such that the torque ripple is small, it is necessary to precisely calculate the electrical angle ⁇ of the rotor.
  • To calculate the current command value from the torque command value Tref it is necessary to use the electrical angle ⁇ and angular speed ⁇ of the rotor.
  • the electrical angle ⁇ and the angular speed ⁇ are calculated at a rotor position estimating section 200.
  • the performance of the rotor position estimating section 200 is extremely important, and there is significance for applying the present invention to the rotor position estimating section 200.
  • FIG.8 is a detailed block diagram of the rotor position estimating section 200 which is an embodiment of the first and second invention theories. A structure thereof will be explained first.
  • the mounting position of the electrical angles ⁇ 0 needs not be 0°. For example, if the Hall sensor 48-1 is located at a position of 30°, the electrical angles ⁇ 0 become equal to 30°, 90°, 150°, 210°, 330°.
  • the motor currents ia, ib, ic are respectively inputted to transfer function sections 201-1, 202-2, 202-3.
  • the transfer function is expressed as the following equation (11), and this corresponds to the equation (1) used in the theoretical explanation.
  • the numerator of the above equation (11) is an impedance "Rm + s ⁇ Lm” multiplied by the motor current of the equation (1).
  • the impedance is multiplied by "1/(s ⁇ T f + 1)" which is a transfer function of a low pass filter that does not exist in the equation (1).
  • the low pass filter is used to eliminate noise included in the motor currents ia, ib, ic, and the use of the low pass filter has practical meaning rather than theoretical meaning.
  • Outputs of the phase voltages Va, Vb, Vc and the transfer function sections 201-1, 202-2, 202-3 are respectively inputted to the subtracters 202-1, 202-2, 202-3, and if errors are taken, the back-EMFs ea, eb and ec of each phase are calculated. That is, the equation (1) is carried out and the back-EMFs ea, eb and ec of each phase are calculated.
  • an a-phase back-EMF calculating section comprises the transfer function section 201-1 and the subtracter 202-1.
  • the back-EMFs ea, eb and ec of each phase are inputted to an angular speed calculating section 203, the equation (2) is carried out and as a result, the angular speed ⁇ is calculated.
  • a method for calculating the maximum value of the back-EMF required for the angular speed calculating section 203 there is a method in which an absolute value is taken and multiplied by two as expressed in the equation (2) and the maximum value of the back-EMFs ea, eb and ec is calculated, but as can be judged from FIG.
  • a section where the parameters Ca, Cb and Cc become [1] and a section where the parameters Ca, Cb and Cc become [0] are determined by the electrical angles ⁇ 0 , but these sections can be determined by the Hall sensor signals Shall which is a detection signal of the Hall sensors 48.
  • the angular speed ⁇ is calculated using the equation (12)
  • the back-EMFs ea, eb and ec and an electrical angle signal ⁇ 0 from a rotor phase detecting section 205 are inputted to the angular speed calculating section 203, and based on these conditions, the parameters Ca, Cb and Cc are determined, the equation (12) is carried out at the angular speed calculating section 203, and then the angular speed ⁇ is calculated.
  • an electrical angle calculating section 204 used for obtaining the electrical angle ⁇ from the angular speed ⁇ is an integration circuit expressed in the equation (4), the angular speed ⁇ is inputted and the electrical angle ⁇ can be calculated.
  • the rotor phase detecting section 205 shown in FIG.8 is used.
  • the Hall sensor signals Shall of the Hall sensors 48-1, 48-2, 48-3 disposed in the motor 1 are used as input, and the electrical angle ⁇ 0 of the rotor is detected.
  • ⁇ 0 0°, 60°, 120°, 180°, 240°, 300° are outputted.
  • These detected electrical angles ⁇ 0 are inputted to the electrical angle calculating section 204, and the initial value ⁇ i is reset with the electrical angles ⁇ 0 according to the equations (3) and (4).
  • the calculated value ⁇ is 65° while the real value of the electrical angle is 60° and an error of 5° is generated.
  • the initial value ⁇ i is 60° and the error is reset in the next integration section, i.e., section between the times T 60 and T 120 , and in this state, the calculation is carried out and thus, errors are not cumulated. Thereafter, the errors are reset every 60° even in the subsequent section such as a section between the times T 120 and T 180 , and the errors are not cumulated.
  • an error between a detected electrical angle ⁇ 0 and an electrical angle ⁇ calculated at that time is obtained in the subtracter 206.
  • the equation (5) is carried out.
  • the angular speed error ⁇ is used as input by an error back-EMF calculating section 208 for carrying out the equation (7), and a back-EMF error ⁇ e is calculated in accordance with the equation (7).
  • m a, b and c.
  • a resistance correcting section 210 the winding resistance Rm is replaced by "Rm + ⁇ Rm” in which the resistance change amount ⁇ Rm calculated at the error resistance calculating section 209 is taken into consideration.
  • FIG.6 shows the result.
  • the resistance change amount ⁇ Rm calculated at the error resistance calculating section 209 shown in FIG.9 is inputted to a changed temperature calculating section 211.
  • a ripple having small rectifying waveforms of the back-EMFs ea, eb and ec are superimposed on an output waveform of the angular speed calculating section 203.
  • a low pass filter is disposed behind the angular speed calculating section 203, the ripple is removed and then, it is constituted as the electrical angular speed ⁇ .
  • a modification example constituted based on this idea will be explained with reference to FIG.10.
  • a point of this modification example is that a low pass filter (LPF) 212 is disposed in an output of an angular speed calculating section 203a.
  • LPF low pass filter
  • the electrical angular speed ⁇ and the electrical angle ⁇ are calculated as signals having no ripple.
  • the structure having the LPF there is effect that a stable calculated value having no variation caused by ripple can be obtained as compared with an apparatus having no LPF.
  • phase voltages Va, Vb, Vc of the motor are used as voltages as explained in FIGs.2 and 8 for obtaining the electrical angle ⁇ , but when a neutral point N of the motor cannot be utilized, the electrical angle ⁇ and the like can be calculated even if the line voltages Vab, Vbc, Vca of the motor are used. That is, theoretically, the following equation (13) should be carried out.
  • the present invention is applied to a position detecting sensor which is inexpensive but has low resolving power instead of a position detecting sensor having high resolving power such as the encoder and the resolver.
  • a position detecting sensor having high resolving power such as the encoder and the resolver.
  • the present invention is also applied to the encoder or resolver, the detection precision of the rotor position and the angular speed can be enhanced even in a region where the rotation speed of the motor is slow.
  • the motor drive control apparatus and the electric power steering apparatus of the present invention even if an inexpensive rotor position detection sensor is used, it is possible to provide a motor drive control apparatus capable of detecting an electrical angle or an angular speed of a rotor having high precision including a low rotation speed region of the motor and capable of detecting a resistance value and temperature of the motor winding by combining the electrical angle of the rotor calculated from the voltage, current and the like of the motor and the position detecting sensor of the inexpensive rotor.
  • an electric power steering apparatus even if an inexpensive rotor position detecting sensor is used, there is effect that it is possible to provide an inexpensive electric power steering apparatus capable of smoothly following abrupt steering operation of a steering wheel by motor control having small torque ripple using a motor drive control apparatus capable of detecting an electrical angle of a rotor having high precision.
  • a rotor position can be calculated precisely, and even if there is a low speed region of a motor or temperature change of the motor, the rotor position can be calculated precisely, and it is possible to control rotation of the motor precisely.
  • the electric power steering apparatus of the invention uses the above-described motor drive control apparatus. Therefore, it is possible to precisely control the rotation of the motor of the electric power steering apparatus, and it is possible to inexpensively provide a steering of a steering wheel having no sense of disharmony even when the steering wheel is abruptly steered in case of emergency.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Power Steering Mechanism (AREA)
EP04725151A 2003-04-04 2004-04-01 Motorantriebssteuereinrichtung und elektrische servolenkeinrichtung damit Withdrawn EP1612927A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2003101195A JP4395313B2 (ja) 2003-04-04 2003-04-04 モータ駆動制御装置および電動パワーステアリング装置
PCT/JP2004/004763 WO2004091089A1 (ja) 2003-04-04 2004-04-01 モータ駆動制御装置及びそれを用いた電動パワーステアリング装置

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EP1612927A1 true EP1612927A1 (de) 2006-01-04

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US (1) US20060176005A1 (de)
EP (1) EP1612927A1 (de)
JP (1) JP4395313B2 (de)
KR (1) KR20050118228A (de)
WO (1) WO2004091089A1 (de)

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WO2012010532A3 (de) * 2010-07-22 2013-01-10 Robert Bosch Gmbh Verfahren und vorrichtung zur sensorlosen lageerkennung einer elektronisch kommutierten elektrischen maschine
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EP2053736A3 (de) * 2007-10-26 2015-01-28 Elsy S.r.l. Steuerverfahren für positive Garnzuführer
EP2043256A3 (de) * 2007-09-26 2017-06-14 Jtekt Corporation Motorensteuergerät und elektrische Servolenkungsvorrichtung
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JP6232868B2 (ja) * 2012-10-23 2017-11-22 株式会社島津製作所 モータ駆動装置および真空ポンプ
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JP4395313B2 (ja) 2010-01-06

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